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The cerebellum is an intriguing component of the brain. In humans it occupies only 10% of the brain volume, yet has approximately 69 billion neurons; that is 80% of the nerve cells in the brain. The cerebellum first arose in jawed vertebrates such as sharks, and early vertebrates also have an additional cerebellum-like structure in the hindbrain. Shark cerebellum-like structures function as adaptive filters to discriminate 'self' from 'other' in sensory inputs. It is likely that the true cerebellum evolved from these cerebellum-like precursors, and that their adaptive filter functionality was adopted for motor control; paving the way for the athleticism and movement finesse that we see in swimming, running, climbing and flying vertebrates. This book uses an evolutionary perspective to open up the exciting body of work that is cerebellar research to a wide audience. Understanding the brain is of interest to many people, from many different backgrounds, and for many different reasons. Therefore, understanding cerebellum is a significant step towards the wider challenge of understanding the brain. This book will be of interest to neuroscientists, neurologists and psychologists, in addition to computer scientists, and engineers concerned with machine/human interactions and robotics.